Awesome general_navigation created by AdityaNG
Project description
General Navigation
General Navigation Models based on GNM, ViNT, NoMaD as a pytorch repo for quick and easy deployment.
Install it from PyPI
pip install general_navigation
Usage
Creating a pytorch instance of the model
from .models.factory import get_default_config, get_model, get_weights
config = get_default_config()
model = get_model(config)
model = get_weights(config, model, device)
Using the command line tool for inference
$ python3 -m general_navigation --help
CONFIG_DIR /home/aditya/miniconda3/envs/oi/lib/python3.11/site-packages/general_navigation/models/config
usage: general_navigation [-h] [--device {auto,cuda,cpu}] [--media MEDIA]
options:
-h, --help show this help message and exit
--device {auto,cuda,cpu}, -d {auto,cuda,cpu}
--media MEDIA, -m MEDIA
File path, use camera index if you want to use the webcam
$ python3 -m general_navigation --media media/test.mp4
TODO
- Import models from visualnav-transformer
- Script to use specified video camera to feed video into the models
- Visualize model's trajectory output
- Arguments to CLI
- Auto download model weights from google drive
- Demo video
- PyPi release
- Example usage
- Carla Integration
- MPC implementation
- Visualize MPC reconstructed trajectory
- Visualize Steering angle
- Fix scaling issue
- Intrinsic matrix as argument
- Documentation:
mkdocs gh-deploy
- Linting fixes
- MyPy testing
- Add test cases for code coverage
Development
Read the CONTRIBUTING.md file.
References
Project details
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